
EuRoC [1]}: the dataset contains image and inertial data from a drone. The measurements recorded by the image sensors and IMU were 20Hz and 200Hz respectively.
Poses provided from a Vicon motion capture system are used as ground truth for training and also for computing RMS errors for testing.

KAIST [2]}: collected from automotive vehicles in urban scenes. A sensor fusion method using RTK-GPS, an IMU, and 3D LiDAR is used to generate the ground truth poses.
The measurements recorded by the image sensors and IMU were 10Hz and 100Hz respectively.

Ground robots: collected from a ground robot (Clearpath), with 10Hz images and 200Hz IMU data. Ground truth poses are computed by RTK-GPS assisted sensor fusion algorithm (RTK-VIO). Since the RTK-VIO algorithm outputs high precision poses as the image is received, the ground truth pose is not at the exact IMU measurement timestamp. We interpolate the ground truth pose to align with the nearest IMU timestamp.

